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基于遗传算法的姿态扰动最小路径规划研究

发表时间:2010-02-28  浏览量:1538  下载量:523
全部作者: 段晓,贾庆轩,孙汉旭,陈钢
作者单位: 北京邮电大学自动化学院
摘 要: 遗传算法(genetic algorithm,GA)是一种借鉴生物界自然选择和进化机制发展起来的高度并行、随机、自适应的全局优化概率搜索算法。基于GA研究机械臂运动对基座的姿态扰动问题,首先,建立空间机器人的运动学模型及空间机器人末端与关节速度之间的映射关系;接着,应用GA作为最优化算法,在空间机器人可行解空间中,寻找最优解得到最优路径,以达到对基座姿态干扰最小的目的;最后,通过数值仿真实验验证算法的实用性。
关 键 词: 机械设计;空间机器人;姿态干扰;遗传算法;路径规划
Title: Study on path planning based on genetic algorithm for minimizing attitude disturbance
Author: DUAN Xiao, JIA Qingxuan, SUN Hanxu, CHEN Gang
Organization: School of Automation, Beijing University of Posts and Telecommunications
Abstract: Genetic algorithm (GA) is a high parallel, random and adaptive global optimization algorithm, which is inspired from the mechanism of nature selection and evolution. In this paper, a path planning method based on GA is presented. Firstly, the model of the space robot is built to display the mapping of the end velocity and the joint velocity. Then the optimal algorithm based on genetic algorithm is presented to search the optimal solution which minimizes the disturbance of base attitude in the feasible solution space. Finally, an illustrative example is used to verify the feasibility of the algorithm.
Key words: mechanical design; space robot; attitude disturbance; genetic algorithm; path planning
发表期数: 2010年2月第4期
引用格式: 段晓,贾庆轩,孙汉旭,等. 基于遗传算法的姿态扰动最小路径规划研究[J]. 中国科技论文在线精品论文,2010,3(4):361-366.
 
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